CN215794132U

CN215794132U - Anti-skidding wall climbing robot with sucking disc

Info

Publication number: CN215794132U
Application number: CN202120673376.4U
Authority: CN
Inventors: 曹许昊珺
Original assignee: Yangzhou Haoke Robot Technology Co ltd
Current assignee: Yangzhou Haoke Robot Technology Co ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2022-02-11
Anticipated expiration: 2031-04-02

Abstract

The utility model discloses an anti-skid wall-climbing robot with a sucker, which comprises a robot main body, wherein two symmetrical first mounting grooves are arranged on the lower surface of the robot main body, two symmetrical second servo electric cylinders are fixedly arranged in the first mounting grooves, a first mounting plate is fixedly arranged on output shafts of the two second servo electric cylinders, a first magnet is fixedly arranged on the first mounting plate, a driving mechanism is fixedly arranged at the lower end of the robot main body, a second servo electric cylinder is fixedly arranged on the robot main body, a first sucker is fixedly arranged on the output end of the second servo electric cylinder, the second servo electric cylinder is arranged to facilitate the adjustment of the distance between the first magnet and a wall and the adjustment of the adsorption force of the first magnet, a first sucker is fixedly arranged on the output shaft of the second servo electric cylinder, the adsorption position of the first sucker is conveniently adjusted by adjusting the length of the output shaft, is favorable for improving the anti-skid performance.

Description

Anti-skidding wall climbing robot with sucking disc

Technical Field

The utility model relates to the technical field of robots, in particular to an anti-skidding wall-climbing robot with suckers.

Background

A wall climbing robot refers to an automated robot that climbs on a vertical wall and completes operations. The wall-climbing robot is also called a wall-surface moving robot, because the vertical wall surface operation exceeds the limit of a person, the wall-climbing robot must have two basic functions of adsorption and movement, and the common adsorption mode comprises negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface. The wall-climbing robot is mainly used for petrochemical enterprises to carry out flaw detection or paint spraying treatment on the cylindrical large tank or carry out cleaning and spraying on buildings. The device is used for thickness measurement in nuclear industry, and can also be used in fire fighting, shipbuilding and other industries.

The antiskid performance of current wall climbing robot is relatively poor, and the position of inconvenient regulation magnet and then adjust absorbent intensity, and inconvenient wall climbing in the pipeline.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an anti-skidding wall-climbing robot with a sucker, which aims to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: an anti-skidding wall-climbing robot with suckers comprises a robot main body, wherein two symmetrical first mounting grooves are formed in the lower surface of the robot main body, two symmetrical second servo electric cylinders are fixedly mounted in the first mounting grooves, a first mounting plate is fixedly mounted on an output shaft of the two second servo electric cylinders, a first magnet is fixedly mounted on the first mounting plate, a driving mechanism is fixedly mounted at the lower end of the robot main body, a second servo electric cylinder is fixedly mounted on the robot main body, a first sucker is fixedly mounted at the output end of the second servo electric cylinder, two symmetrical steering wheels are fixedly mounted on the lower surface of the robot main body, a second mounting plate is fixedly mounted on the upper surface of the robot main body, a moving mechanism is fixedly mounted on the second mounting plate, and a plurality of first hinged seats are fixedly mounted on the moving mechanism, it is a plurality of all articulated on the first articulated seat have the crossbar, the crossbar articulates through the articulated seat of the second that is equipped with has the fixed plate, fixed plate fixed mounting has second magnet, the equal fixed mounting in both sides of second magnet has the leading wheel.

Preferably, actuating mechanism includes first servo motor, reduction gear, pivot and drive wheel, the reduction gear fixed mounting be in on the lower extreme surface of robot main part, first servo motor fixed mounting be in on the reduction gear, first servo motor's output shaft pass through the gear with reduction gear drive is connected, the pivot is installed on the reduction gear, drive wheel fixed mounting be in the pivot.

Preferably, the driving wheel is sleeved with an anti-slip sleeve.

Preferably, the moving mechanism comprises a screw rod, a guide rod, two sliding blocks and a second servo motor, the screw rod is rotatably installed on the second mounting plate through a bearing, the guide rod is fixed on the second mounting plate, the two sliding blocks are in threaded connection with the screw rod, the threads of the two sliding blocks are opposite, the guide rod is in sliding installation with the two sliding blocks, the second servo motor is in transmission connection with the screw rod through a coupler, and the second servo motor is fixed on the second mounting plate.

Preferably, the robot main body is provided with two battery placing bins on two sides, and a storage battery is installed in the battery placing bin.

Preferably, one side of the battery placing bin is hinged with a cover plate, and an anti-collision block is fixedly mounted on the inner side surface of the cover plate.

Preferably, a third servo electric cylinder is fixedly mounted on two sides of the second magnet, and a second sucker is fixedly mounted on an output shaft of the third servo electric cylinder.

Compared with the prior art, the utility model has the beneficial effects that:

in the anti-skidding wall-climbing robot with the suckers, the second servo electric cylinder is arranged to facilitate adjustment of the distance between the first magnet and the wall and adjustment of the adsorption force of the first magnet, the first sucker is fixedly arranged on the output shaft of the second servo electric cylinder, the adsorption position of the first sucker is convenient to adjust by adjusting the length of the output shaft, and the anti-skidding performance is improved;

in the antiskid wall climbing robot with the sucker, the height of the second magnet and the height of the guide wheel can be conveniently adjusted through the cross rod hinged with the second hinged seat arranged on the moving mechanism, so that the robot can conveniently climb the wall in pipelines with different specifications, and the use range is enlarged.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a second schematic structural diagram of the present invention;

FIG. 3 is a third schematic structural diagram of the present invention;

fig. 4 is a partially enlarged view of a portion a in fig. 2.

In the figure: 1. a robot main body; 2. a first mounting groove; 3. a second servo electric cylinder; 4. a first mounting plate; 5. a first magnet; 6. a drive mechanism; 61. a first servo motor; 62. a speed reducer; 63. a rotating shaft; 64. a drive wheel; 7. a fourth servo electric cylinder; 8. a first suction cup; 9. a steering wheel; 10. a second mounting plate; 11. a moving mechanism; 111. a screw rod; 112. a guide bar; 113. a slider; 114. a second servo motor; 12. a first hinge mount; 13. a cross bar; 14. a second hinge mount; 15. a fixing plate; 16. a second magnet; 17. a guide wheel; 18. an anti-slip sleeve; 19. a battery placing bin; 20. a storage battery; 21. a cover plate; 22. an anti-collision block; 23. a third servo electric cylinder; 24. and a second suction cup.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: an anti-skidding wall-climbing robot with suckers comprises a robot main body 1, wherein two symmetrical first mounting grooves 2 are arranged on the lower surface of the robot main body 1, two symmetrical second servo electric cylinders 3 are fixedly mounted in the first mounting grooves 2, a first mounting plate 4 is fixedly mounted on output shafts of the two second servo electric cylinders 3, a first magnet 5 is fixedly mounted on the first mounting plate 4, a driving mechanism 6 is fixedly mounted at the lower end of the robot main body 1, a fourth servo electric cylinder 7 is fixedly mounted on the robot main body 1, a first sucker 8 is fixedly mounted at the output end of the fourth servo electric cylinder 7, two symmetrical steering wheels 9 are fixedly mounted on the lower surface of the robot main body 1, a second mounting plate 10 is fixedly mounted on the upper surface of the robot main body 1, a moving mechanism 11 is fixedly mounted on the second mounting plate 10, a plurality of first hinged seats 12 are fixedly mounted on the moving mechanism 11, the first hinging seats 12 are hinged with cross rods 13, the cross rods 13 are hinged with a fixing plate 15 through second hinging seats 14, a second magnet 16 is fixedly arranged on the fixing plate 15, guide wheels 17 are fixedly arranged on two sides of the second magnet 16, in the anti-skidding wall climbing robot with the suckers, the second servo electric cylinder 3 is arranged to facilitate adjustment of the distance between the first magnet 5 and the wall and adjustment of the adsorption force of the first magnet 5, the first sucker 8 is fixedly arranged on an output shaft of the fourth servo electric cylinder 7 and facilitates adjustment of the adsorption position of the first sucker 8 by adjustment of the length of the output shaft, so that the anti-skidding performance is improved, the height of the second magnet 16 and the guide wheels 17 is conveniently adjusted through the cross rods 13 hinged with the second hinging seats 14 arranged on the moving mechanism 11, and the wall climbing of the robot in pipelines with different specifications is facilitated, the application range is expanded.

Referring to fig. 1-4, the driving mechanism 6 includes a first servo motor 61, a speed reducer 62, a rotating shaft 63 and a driving wheel 64, the speed reducer 62 is fixedly installed on the lower end surface of the robot main body 1, the first servo motor 61 is fixedly installed on the speed reducer 62, an output shaft of the first servo motor 61 is in transmission connection with the speed reducer 62 through a gear, the rotating shaft 63 is installed on the speed reducer 62, the driving wheel 64 is fixedly installed on the rotating shaft 63, the first servo motor 61 drives the speed reducer 62 to rotate through the gear, and the driving wheel 64 fixed on the rotating shaft 63 is driven to rotate, so that the robot can move conveniently.

Referring to fig. 1-4, the driving wheel 64 is sleeved with the anti-slip sleeve 18, and the anti-slip sleeve 18 sleeved on the driving wheel 64 is beneficial to increase the friction force and prevent the robot from slipping when moving.

Referring to fig. 1-4, the moving mechanism 11 includes a screw 111, a guide rod 112, two sliders 113 and a second servo motor 114, the screw 111 is rotatably mounted on the second mounting plate 10 through a bearing, the guide rod 112 is fixed on the second mounting plate 10, the two sliders 113 are both in threaded connection with the screw 111, the threads of the two sliders 113 are opposite, the guide rod 112 and the two sliders 113 are slidably mounted, the second servo motor 114 is in transmission connection with the screw 111 through a coupler, the second servo motor 114 is fixed on the second mounting plate 10, the second servo motor 114 drives the screw 111 to rotate through the coupler, the two sliders 113 are driven to move relatively on the guide rod 112, the position of the cross rod 13 is conveniently adjusted, and the height of the fixing plate 15 is adjusted.

Referring to fig. 1-4, a battery placing bin 19 is disposed on the robot body 1, a battery 20 is installed in the battery placing bin 19, and the battery placing bin 19 is disposed to facilitate the placement of the battery 20 and provide power for the robot through the battery 20.

Referring to fig. 1-4, a cover plate 21 is hinged to one side of the battery compartment 19, an anti-collision block 22 is fixedly mounted on the inner surface of the cover plate 21, the cover plate 21 hinged to the battery compartment 19 is convenient for protecting the safety of the battery 20, and the anti-collision block 22 is arranged to prevent the battery 20 from improving the buffering performance.

Referring to fig. 1-4, a third servo electric cylinder 23 is fixedly mounted on two sides of the second magnet 16, a second suction cup 24 is fixedly mounted on an output shaft of the third servo electric cylinder 23, and a second suction cup 24 is fixedly mounted on an output shaft of the third servo electric cylinder 23, so that the anti-skid performance is further improved.

The working principle is as follows: when the anti-skidding wall climbing robot with the suction cups is used, the first servo motor 61 drives the speed reducer 62 to rotate through the gear, the driving wheel 64 fixed on the rotating shaft 63 is driven to rotate, the robot is convenient to move, the second servo electric cylinder 3 is convenient to adjust the distance between the first magnet 5 and the wall and is convenient to adjust the adsorption force of the first magnet 5, the first suction cup 8 is fixedly arranged on the output shaft of the fourth servo electric cylinder 7, the adsorption position of the first suction cup 8 is convenient to adjust by adjusting the length of the output shaft, the anti-skidding performance is improved, the second servo motor 114 drives the screw rod 111 to rotate through the coupler, the two sliding blocks 113 are driven to move relatively on the guide rod 112, the position of the cross rod 13 is convenient to adjust, the height of the fixed plate 15 is adjusted, so that the heights of the second magnet 16 and the guide wheel 17 are adjusted, the robot can climb walls in pipelines with different specifications conveniently, the application range is expanded.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an antiskid wall climbing robot with sucking disc, includes robot main part (1), its characterized in that: the lower surface of the robot main body (1) is provided with two symmetrical first mounting grooves (2), the first mounting groove (2) is internally and fixedly provided with two symmetrical second servo electric cylinders (3), the second mounting groove (2) is internally and fixedly provided with a first mounting plate (4) on an output shaft of the second servo electric cylinder (3), the first mounting plate (4) is fixedly provided with a first magnet (5), the lower end of the robot main body (1) is fixedly provided with a driving mechanism (6), the robot main body (1) is fixedly provided with a fourth servo electric cylinder (7), the output end of the fourth servo electric cylinder (7) is fixedly provided with a first sucker (8), the lower surface of the robot main body (1) is fixedly provided with two symmetrical steering wheels (9), the upper surface of the robot main body (1) is fixedly provided with a second mounting plate (10), fixed mounting has moving mechanism (11) on second mounting panel (10), fixed mounting has a plurality of first articulated seats (12) on moving mechanism (11), and is a plurality of all articulated on first articulated seat (12) have crossbar (13), crossbar (13) articulate through the articulated seat of the second (14) that is equipped with has fixed plate (15), fixed plate (15) fixed mounting has second magnet (16), the equal fixed mounting in both sides of second magnet (16) has leading wheel (17).

2. The anti-slip wall-climbing robot with the suction cup as claimed in claim 1, wherein: actuating mechanism (6) include first servo motor (61), reduction gear (62), pivot (63) and drive wheel (64), reduction gear (62) fixed mounting be in on the lower extreme surface of robot main part (1), first servo motor (61) fixed mounting be in on reduction gear (62), the output shaft of first servo motor (61) pass through the gear with reduction gear (62) transmission is connected, install pivot (63) on reduction gear (62), drive wheel (64) fixed mounting be in on pivot (63).

3. The anti-slip wall-climbing robot with the suction cup as claimed in claim 2, wherein: the driving wheel (64) is sleeved with an anti-skid sleeve (18).

4. The anti-slip wall-climbing robot with the suction cup as claimed in claim 1, wherein: moving mechanism (11) include lead screw (111), guide arm (112), two slider (113) and second servo motor (114), lead screw (111) are installed through the bearing rotation on second mounting panel (10), guide arm (112) are fixed on second mounting panel (10), two slider (113) all with lead screw (111) threaded connection, two the screw thread of slider (113) is opposite, guide arm (112) and two slider (113) slidable mounting, second servo motor (114) pass through the shaft coupling with lead screw (111) transmission is connected, second servo motor (114) are fixed on second mounting panel (10).

5. The anti-slip wall-climbing robot with the suction cup as claimed in claim 1, wherein: the robot is characterized in that a battery placing bin (19) on two sides is arranged on the robot main body (1), and a storage battery (20) is installed in the battery placing bin (19).

6. The anti-slip wall-climbing robot with the suction cup as claimed in claim 5, wherein: one side of the battery placing bin (19) is hinged with a cover plate (21), and an anti-collision block (22) is fixedly mounted on the inner side surface of the cover plate (21).

7. The anti-slip wall-climbing robot with the suction cup as claimed in claim 1, wherein: and third servo electric cylinders (23) are fixedly mounted on two sides of the second magnet (16), and second suckers (24) are fixedly mounted on output shafts of the third servo electric cylinders (23).